A method for generating an image of a scene with a corresponding depth map is disclosed herein. The method comprises collecting a plurality of copies of a two-dimensional image of the scene, generating an intermediate image by concatenating the plurality of copies of the two-dimensional image along a first direction, generating an intermediate depth map corresponding to the intermediate image by applying a neural network to the intermediate image, and generating, from the intermediate image and the intermediate depth map, the image of the scene with the corresponding depth map.